| Directory: | ./ |
|---|---|
| File: | bindings/python/parsers/mjcf/geometry.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 6 | 14 | 42.9% |
| Branches: | 2 | 8 | 25.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2022 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/parsers/mjcf.hpp" | ||
| 6 | #include "pinocchio/bindings/python/parsers/mjcf.hpp" | ||
| 7 | |||
| 8 | #include <boost/python.hpp> | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | namespace python | ||
| 13 | { | ||
| 14 | |||
| 15 | namespace bp = boost::python; | ||
| 16 | |||
| 17 | GeometryModel | ||
| 18 | ✗ | buildGeomFromMJCF(Model & model, const std::string & filename, const GeometryType & type) | |
| 19 | { | ||
| 20 | ✗ | GeometryModel geometry_model; | |
| 21 | ✗ | ::pinocchio::mjcf::buildGeom(model, filename, type, geometry_model); | |
| 22 | ✗ | return geometry_model; | |
| 23 | } | ||
| 24 | |||
| 25 | ✗ | GeometryModel buildGeomFromMJCF( | |
| 26 | Model & model, | ||
| 27 | const std::string & filename, | ||
| 28 | const GeometryType & type, | ||
| 29 | ::hpp::fcl::MeshLoaderPtr & meshLoader) | ||
| 30 | { | ||
| 31 | ✗ | GeometryModel geometry_model; | |
| 32 | ✗ | ::pinocchio::mjcf::buildGeom(model, filename, type, geometry_model, meshLoader); | |
| 33 | ✗ | return geometry_model; | |
| 34 | } | ||
| 35 | |||
| 36 | 20 | void exposeMJCFGeom() | |
| 37 | { | ||
| 38 |
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20 | bp::def( |
| 39 | "buildGeomFromMJCF", | ||
| 40 | static_cast<GeometryModel (*)(Model &, const std::string &, const GeometryType &)>( | ||
| 41 | pinocchio::python::buildGeomFromMJCF), | ||
| 42 | 40 | bp::args("model", "mjcf_filename", "geom_type"), | |
| 43 | "Parse the Mjcf file given as input looking for the geometry of the given input model and\n" | ||
| 44 | "return a GeometryModel containing either the collision geometries " | ||
| 45 | "(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" | ||
| 46 | "Parameters:\n" | ||
| 47 | "\tmodel: model of the robot\n" | ||
| 48 | "\tfilename: path to the mjcf file containing the model of the robot\n" | ||
| 49 | "\tgeom_type: type of geometry to extract from the mjcf file (either the VISUAL for " | ||
| 50 | "display or the COLLISION for collision detection).\n"); | ||
| 51 | |||
| 52 |
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20 | bp::def( |
| 53 | "buildGeomFromMJCF", | ||
| 54 | static_cast<GeometryModel (*)( | ||
| 55 | Model &, const std::string &, const GeometryType &, ::hpp::fcl::MeshLoaderPtr &)>( | ||
| 56 | pinocchio::python::buildGeomFromMJCF), | ||
| 57 | 40 | bp::args("model", "mjcf_filename", "geom_type", "mesh_loader"), | |
| 58 | "Parse the Mjcf file given as input looking for the geometry of the given input model and\n" | ||
| 59 | "return a GeometryModel containing either the collision geometries " | ||
| 60 | "(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" | ||
| 61 | "Parameters:\n" | ||
| 62 | "\tmodel: model of the robot\n" | ||
| 63 | "\tfilename: path to the mjcf file containing the model of the robot\n" | ||
| 64 | "\tgeom_type: type of geometry to extract from the mjcf file (either the VISUAL for " | ||
| 65 | "display or the COLLISION for collision detection).\n" | ||
| 66 | "\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).\n"); | ||
| 67 | 20 | } | |
| 68 | } // namespace python | ||
| 69 | } // namespace pinocchio | ||
| 70 |